JP6136994B2 - 内燃機関の制御装置 - Google Patents
内燃機関の制御装置 Download PDFInfo
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- JP6136994B2 JP6136994B2 JP2014043207A JP2014043207A JP6136994B2 JP 6136994 B2 JP6136994 B2 JP 6136994B2 JP 2014043207 A JP2014043207 A JP 2014043207A JP 2014043207 A JP2014043207 A JP 2014043207A JP 6136994 B2 JP6136994 B2 JP 6136994B2
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- temperature
- control
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- internal combustion
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- Expired - Fee Related
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- 238000002485 combustion reaction Methods 0.000 title claims description 24
- 239000000446 fuel Substances 0.000 claims description 99
- 238000000746 purification Methods 0.000 claims description 95
- 230000008929 regeneration Effects 0.000 claims description 59
- 238000011069 regeneration method Methods 0.000 claims description 59
- 150000003464 sulfur compounds Chemical class 0.000 claims description 54
- 230000001629 suppression Effects 0.000 claims description 40
- 239000013618 particulate matter Substances 0.000 claims description 25
- 239000000779 smoke Substances 0.000 description 29
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 14
- 229910052717 sulfur Inorganic materials 0.000 description 14
- 239000011593 sulfur Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 10
- 238000002347 injection Methods 0.000 description 7
- 239000007924 injection Substances 0.000 description 7
- 230000008021 deposition Effects 0.000 description 4
- 238000003795 desorption Methods 0.000 description 4
- 230000006866 deterioration Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 239000003054 catalyst Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003647 oxidation Effects 0.000 description 2
- 238000007254 oxidation reaction Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N9/00—Electrical control of exhaust gas treating apparatus
- F01N9/002—Electrical control of exhaust gas treating apparatus of filter regeneration, e.g. detection of clogging
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N13/00—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00
- F01N13/009—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00 having two or more separate purifying devices arranged in series
- F01N13/0093—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00 having two or more separate purifying devices arranged in series the purifying devices are of the same type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
- F01N3/023—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles
- F01N3/025—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles using fuel burner or by adding fuel to exhaust
- F01N3/0253—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles using fuel burner or by adding fuel to exhaust adding fuel to exhaust gases
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
- F02D41/0235—Introducing corrections for particular conditions exterior to the engine in relation with the state of the exhaust gas treating apparatus
- F02D41/027—Introducing corrections for particular conditions exterior to the engine in relation with the state of the exhaust gas treating apparatus to purge or regenerate the exhaust gas treating apparatus
- F02D41/029—Introducing corrections for particular conditions exterior to the engine in relation with the state of the exhaust gas treating apparatus to purge or regenerate the exhaust gas treating apparatus the exhaust gas treating apparatus being a particulate filter
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/08—Introducing corrections for particular operating conditions for idling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2610/00—Adding substances to exhaust gases
- F01N2610/03—Adding substances to exhaust gases the substance being hydrocarbons, e.g. engine fuel
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/08—Parameters used for exhaust control or diagnosing said parameters being related to the engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
- F01N2900/1602—Temperature of exhaust gas apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
- F01N2900/1612—SOx amount trapped in catalyst
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/16—Parameters used for exhaust control or diagnosing said parameters being related to the exhaust apparatus, e.g. particulate filter or catalyst
- F01N2900/1631—Heat amount provided to exhaust apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/08—Exhaust gas treatment apparatus parameters
- F02D2200/0802—Temperature of the exhaust gas treatment apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/38—Controlling fuel injection of the high pressure type
- F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
- F02D41/402—Multiple injections
- F02D41/405—Multiple injections with post injections
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Description
20 DOC(排気浄化部)
21 DPF(排気浄化部)
24 燃料添加弁(燃料供給部)
25 SOxセンサ
30 ECU(制御部)
E 排気浄化装置(排気浄化部)
Claims (6)
- 内燃機関の排気通路に設けられた排気浄化部と、
前記排気浄化部に燃料を供給する燃料供給部と、
前記燃料供給部により燃料を供給し前記排気浄化部を昇温させて前記排気浄化部に堆積した粒子状物質を燃焼させる再生制御を実行する制御部と、を備え、
前記制御部は、前記再生制御において、前記排気浄化部の温度が第1温度範囲内にある場合には前記排気浄化部を第1昇温速度で昇温させ、前記排気浄化部の温度が前記第1温度範囲よりも高い第2温度範囲内にある場合には前記排気浄化部を前記第1昇温速度よりも遅い第2昇温速度で昇温させ、前記排気浄化部の温度が前記第2温度範囲よりも高い第3温度範囲内にある場合には前記排気浄化部の温度を前記第3温度範囲内に維持して前記粒子状物質を燃焼させ、
前記制御部は、前記再生制御中に前記排気浄化部の温度が前記第2温度範囲内にある場合に前記内燃機関がアイドル運転状態となった場合、アイドル運転中での前記排気浄化部の温度を、前記内燃機関がアイドル運転状態となった時点での前記排気浄化部の温度以下に制御する昇温抑制制御を実行する、内燃機関の制御装置。 - 前記制御部は、前記昇温抑制制御において、アイドル運転中での燃料供給量を、前記内燃機関がアイドル運転状態となった時点での燃料供給量より減少させる、請求項1の内燃機関の制御装置。
- 前記制御部は、前記昇温抑制制御において、排気ガスの温度を抑制する排気ガス温度抑制制御を実行する、請求項1又は2の内燃機関の制御装置。
- 前記制御部は、前記排気浄化部の温度が前記第2温度範囲内にあって前記内燃機関がアイドル運転状態となり、さらに車速が所定値以上である場合には、前記昇温抑制制御は実行しない、請求項1乃至3の何れかの内燃機関の制御装置。
- 前記制御部は、前記昇温抑制制御において、前記排気浄化部への硫黄化合物の堆積量が所定値以上の場合には、前記排気浄化部への硫黄化合物の堆積量が前記所定値未満の場合よりも、前記排気浄化部の温度を低く制御する、請求項1乃至4の何れかの内燃機関の制御装置。
- 前記制御部は、前記昇温抑制制御において、前記排気浄化部への硫黄化合物の堆積量が所定値以上の場合には、前記排気浄化部への硫黄化合物の堆積量が前記所定値未満の場合よりも、前記燃料供給部の燃料供給量を少なく制御する、請求項1乃至5の何れかの内燃機関の制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014043207A JP6136994B2 (ja) | 2014-03-05 | 2014-03-05 | 内燃機関の制御装置 |
RU2016135539A RU2640867C9 (ru) | 2014-03-05 | 2015-02-24 | Устройство управления для двигателя внутреннего сгорания |
CN201580011916.XA CN106062329B (zh) | 2014-03-05 | 2015-02-24 | 用于内燃机的控制设备 |
PCT/IB2015/000220 WO2015132642A1 (en) | 2014-03-05 | 2015-02-24 | Control apparatus for internal combustion engine |
US15/122,747 US10352222B2 (en) | 2014-03-05 | 2015-02-24 | Control apparatus for internal combustion engine |
KR1020167022047A KR101801717B1 (ko) | 2014-03-05 | 2015-02-24 | 내연 기관의 제어 장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014043207A JP6136994B2 (ja) | 2014-03-05 | 2014-03-05 | 内燃機関の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015169104A JP2015169104A (ja) | 2015-09-28 |
JP6136994B2 true JP6136994B2 (ja) | 2017-05-31 |
Family
ID=52727172
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014043207A Expired - Fee Related JP6136994B2 (ja) | 2014-03-05 | 2014-03-05 | 内燃機関の制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10352222B2 (ja) |
JP (1) | JP6136994B2 (ja) |
KR (1) | KR101801717B1 (ja) |
CN (1) | CN106062329B (ja) |
RU (1) | RU2640867C9 (ja) |
WO (1) | WO2015132642A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6281324B2 (ja) * | 2014-03-05 | 2018-02-21 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07247916A (ja) | 1994-03-10 | 1995-09-26 | Nissan Motor Co Ltd | ディーゼル機関の排気還流制御装置 |
JP3427881B2 (ja) | 1998-09-04 | 2003-07-22 | 三菱自動車工業株式会社 | 内燃機関 |
JP4103753B2 (ja) | 2003-09-19 | 2008-06-18 | 日産自動車株式会社 | エンジンの排気浄化装置 |
JP4357918B2 (ja) * | 2003-09-26 | 2009-11-04 | トヨタ自動車株式会社 | 内燃機関の排気浄化装置 |
JP4026576B2 (ja) | 2003-10-08 | 2007-12-26 | トヨタ自動車株式会社 | 内燃機関の排気浄化システム |
JP4228919B2 (ja) * | 2004-01-13 | 2009-02-25 | トヨタ自動車株式会社 | 内燃機関の排気浄化装置 |
US7047730B2 (en) * | 2004-07-08 | 2006-05-23 | International Engine Intellectual Property Company, Llc | De-sulfurization of a NOx adsorber catalyst in a diesel engine exhaust system |
JP4003768B2 (ja) * | 2004-09-14 | 2007-11-07 | トヨタ自動車株式会社 | 内燃機関の排気浄化システム |
FR2899932A1 (fr) * | 2006-04-14 | 2007-10-19 | Renault Sas | Procede et dispositif de controle de la regeneration d'un systeme de depollution |
JP2008303835A (ja) | 2007-06-08 | 2008-12-18 | Toyota Motor Corp | 内燃機関の排気浄化システム |
JP5145789B2 (ja) | 2007-06-22 | 2013-02-20 | スズキ株式会社 | 内燃機関の可変バルブタイミング制御装置 |
JP2010043597A (ja) * | 2008-08-12 | 2010-02-25 | Toyota Motor Corp | 内燃機関の排気浄化装置 |
JP2010229916A (ja) | 2009-03-27 | 2010-10-14 | Toyota Motor Corp | 内燃機関の排気浄化装置 |
JP5229400B2 (ja) | 2009-11-09 | 2013-07-03 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
US20110146246A1 (en) * | 2009-12-22 | 2011-06-23 | Caterpillar Inc. | Regeneration assist transition period |
KR101326812B1 (ko) * | 2011-05-17 | 2013-11-07 | 현대자동차 주식회사 | 배기가스 후처리 방법 |
JP5705676B2 (ja) * | 2011-07-27 | 2015-04-22 | 株式会社日本自動車部品総合研究所 | 内燃機関の排気浄化装置 |
KR101360047B1 (ko) * | 2012-04-04 | 2014-02-10 | 현대자동차주식회사 | 백연 저감 시스템 및 그 방법 |
JP2015169105A (ja) | 2014-03-05 | 2015-09-28 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
JP6281324B2 (ja) * | 2014-03-05 | 2018-02-21 | トヨタ自動車株式会社 | 内燃機関の制御装置 |
US20160084184A1 (en) * | 2014-09-19 | 2016-03-24 | Progress Rail Services Corporation | Exhaust system having aftertreatment regeneration cycle control |
-
2014
- 2014-03-05 JP JP2014043207A patent/JP6136994B2/ja not_active Expired - Fee Related
-
2015
- 2015-02-24 WO PCT/IB2015/000220 patent/WO2015132642A1/en active Application Filing
- 2015-02-24 RU RU2016135539A patent/RU2640867C9/ru not_active IP Right Cessation
- 2015-02-24 KR KR1020167022047A patent/KR101801717B1/ko active IP Right Grant
- 2015-02-24 CN CN201580011916.XA patent/CN106062329B/zh not_active Expired - Fee Related
- 2015-02-24 US US15/122,747 patent/US10352222B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
KR101801717B1 (ko) | 2017-11-27 |
RU2640867C1 (ru) | 2018-01-12 |
US20170248058A1 (en) | 2017-08-31 |
CN106062329A (zh) | 2016-10-26 |
WO2015132642A1 (en) | 2015-09-11 |
KR20160107307A (ko) | 2016-09-13 |
RU2640867C9 (ru) | 2018-03-26 |
JP2015169104A (ja) | 2015-09-28 |
CN106062329B (zh) | 2018-09-04 |
US10352222B2 (en) | 2019-07-16 |
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